51 research outputs found
SegICP: Integrated Deep Semantic Segmentation and Pose Estimation
Recent robotic manipulation competitions have highlighted that sophisticated
robots still struggle to achieve fast and reliable perception of task-relevant
objects in complex, realistic scenarios. To improve these systems' perceptive
speed and robustness, we present SegICP, a novel integrated solution to object
recognition and pose estimation. SegICP couples convolutional neural networks
and multi-hypothesis point cloud registration to achieve both robust pixel-wise
semantic segmentation as well as accurate and real-time 6-DOF pose estimation
for relevant objects. Our architecture achieves 1cm position error and
<5^\circ$ angle error in real time without an initial seed. We evaluate and
benchmark SegICP against an annotated dataset generated by motion capture.Comment: IROS camera-read
ReSeg: A Recurrent Neural Network-based Model for Semantic Segmentation
We propose a structured prediction architecture, which exploits the local
generic features extracted by Convolutional Neural Networks and the capacity of
Recurrent Neural Networks (RNN) to retrieve distant dependencies. The proposed
architecture, called ReSeg, is based on the recently introduced ReNet model for
image classification. We modify and extend it to perform the more challenging
task of semantic segmentation. Each ReNet layer is composed of four RNN that
sweep the image horizontally and vertically in both directions, encoding
patches or activations, and providing relevant global information. Moreover,
ReNet layers are stacked on top of pre-trained convolutional layers, benefiting
from generic local features. Upsampling layers follow ReNet layers to recover
the original image resolution in the final predictions. The proposed ReSeg
architecture is efficient, flexible and suitable for a variety of semantic
segmentation tasks. We evaluate ReSeg on several widely-used semantic
segmentation datasets: Weizmann Horse, Oxford Flower, and CamVid; achieving
state-of-the-art performance. Results show that ReSeg can act as a suitable
architecture for semantic segmentation tasks, and may have further applications
in other structured prediction problems. The source code and model
hyperparameters are available on https://github.com/fvisin/reseg.Comment: In CVPR Deep Vision Workshop, 201
Visual Chunking: A List Prediction Framework for Region-Based Object Detection
We consider detecting objects in an image by iteratively selecting from a set
of arbitrarily shaped candidate regions. Our generic approach, which we term
visual chunking, reasons about the locations of multiple object instances in an
image while expressively describing object boundaries. We design an
optimization criterion for measuring the performance of a list of such
detections as a natural extension to a common per-instance metric. We present
an efficient algorithm with provable performance for building a high-quality
list of detections from any candidate set of region-based proposals. We also
develop a simple class-specific algorithm to generate a candidate region
instance in near-linear time in the number of low-level superpixels that
outperforms other region generating methods. In order to make predictions on
novel images at testing time without access to ground truth, we develop
learning approaches to emulate these algorithms' behaviors. We demonstrate that
our new approach outperforms sophisticated baselines on benchmark datasets.Comment: to appear at ICRA 201
segDeepM: Exploiting Segmentation and Context in Deep Neural Networks for Object Detection
In this paper, we propose an approach that exploits object segmentation in
order to improve the accuracy of object detection. We frame the problem as
inference in a Markov Random Field, in which each detection hypothesis scores
object appearance as well as contextual information using Convolutional Neural
Networks, and allows the hypothesis to choose and score a segment out of a
large pool of accurate object segmentation proposals. This enables the detector
to incorporate additional evidence when it is available and thus results in
more accurate detections. Our experiments show an improvement of 4.1% in mAP
over the R-CNN baseline on PASCAL VOC 2010, and 3.4% over the current
state-of-the-art, demonstrating the power of our approach
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